WAVE-RT© Models

WAVE-RT developed models may be incorporated into Simulink. As part of the SimWB code generation and build process, a scan for WAVE-RT components is made. When found, various files required for compilation on the SimWB target machine will be copied into the model source directory and then tranerred along with the model-derived source code to the SimWB host. No user intervention is required. In the following discussion Linux file/directory references are followed by their Windows counterparts in square brackets, i.e. /tmp [C:\tmp].

Prerequisites

Make sure the RealisSimulation directory is on the MATLAB path. For example, if you are using the WAVE-RT 2023.2 release that is installed in /opt/RealisSimulation [C:\Program Files\RealisSimulation], then the MATLAB path should contain /opt/RealisSimulation/2023.2/Common/Thirdparty/matlab [C:\Program Files\RealisSimulation\2023.2\Common\Thirdparty\matlab].
Add the WAVE-RT block to a Simulink model and double-click it to open the block mask.

After applying any changes in selections in the block mask, the WAVE-RT block will modify its inputs and outputs to match your WAVE model actuators and sensors. Once the block is connected you should be able to run your Simulink model as usual.

Click the "Select source file" button and hit "Apply". Then, hit the "Compile model" button. This will compile the model and the following message will be displayed in the MATLAB Command Window.

    Compiling WAVE-RT model
    rs-python3.bat -V 2024.1 -m rcc -t WAVERT_MODEL --platform WIN64 "C:\Users\parag.joshi\Documents\realis\tut_wrt_rt.c" -o "C:\Users\parag.joshi\Documents\realis\tut_wrt_rt.dll"
    * rcc version 2024.1, Thursday 23. May 2024 03:03PM on FL-PARAGJ 
    * C compiler GCC (WIN64) for task WAVERT_MODEL 
    * Using Realis Simulation libraries from version 2023.2 
    * gcc -DUSRDLL -DWIN32 -DWIN64 -c -m64 -fPIC -O2 "-IC:\Program Files\RealisSimulation\2023.2\Products\WAVE\RT\include" "-IC:\Program Files\RealisSimulation\2023.2\Common\LIBRARIES\include" -DWAVERTMODEL_DLL -o tut_wrt_rt.obj C:\Users\parag.joshi\Documents\customerSupport\realis\tut_wrt_rt.c 
    * gcc tut_wrt_rt.obj -o C:\Users\parag.joshi\Documents\realis\tut_wrt_rt.dll -shared -m64 "-LC:\Program Files\RealisSimulation\2023.2\Common\LIBRARIES\lib\win64" 
    * Compilation of C:\Users\parag.joshi\Documents\realis\tut_wrt_rt.dll is finished

RTDB generation and code generation of the model can proceed as usual. No manual intervention is required at this point.

Simulation Accuracy

The libraries used when running a WAVE-based simulation may have been compiled for the executing platform using different compilers (e.g. Windows vs. Linux) or even different version of the same compiler (e.g. gcc 4.8.2 vs. 4.3.4). This can lead to slightly different results for the same simulation when run in different ways (e.g. Simulink on your PC vs. within SimWB on Linux). Be aware of this when comparing results. The differences will be small, but noticeable.